#include "../status_task.h"
#include "../../driver/arm/arm_motor.h"
#include "../../driver/arm/elevator_motor.h"
#include "../../driver/arm/parts.h"
#include "../../driver/arm/sensor.h"
#include "../../service/salve_conn.h"

namespace task {

constexpr uint16_t APP_VERSION = 0x02;

using namespace driver;
using namespace service;
using namespace utils;

void StatusTask::run() {

    for (;;) {

        salveConn->status_notify(
            APP_VERSION,
            sensor->status(),
            armMotor->info1().pos,
            armMotor->info2().pos
        );

        osDelay(500);
    }

}

}
